Proxy Driver
A proxy driver which simply forwards CANopen functionality for a specific device via ROS2 services and messages.
Type |
Package |
Name |
|---|---|---|
lifecycle |
canopen_proxy_driver |
ros2_canopen::LifecycleProxyDriver |
simple |
canopen_proxy_driver |
ros2_canopen::ProxyDriver |
Services
Services |
Type |
Description |
|---|---|---|
~/nmt_reset_node |
Trigger |
Resets CANopen Device the Proxy Device Node manages. |
~/sdo_read |
CORead |
Reads an SDO object from the specified index, subindex and datatype of the remote device. |
~/sdo_write |
COWrite |
Writes data to an SDO object on the specified index, subindex and datatype of the remote device. |
Publishers
Topic |
Type |
Description |
|---|---|---|
~/nmt_state |
String |
Publishes NMT state on change |
~/rpdo |
COData |
Publishes received PDO objects on reception |
Subscribers
Topic |
Type |
Description |
|---|---|---|
~/tpdo |
COData |
Writes received data to remote device if the specified object is RPDO mapped on remote device. |